CN102089195B

CN102089195B - System and method for controlling a four wheel drive vehicle

Info

Publication number: CN102089195B
Application number: CN200980127183.0A
Authority: CN
Inventors: X·克莱斯; M·马尔西利娅; F·富萨尔
Original assignee: Renault SA
Current assignee: Renault SA
Priority date: 2008-05-20
Filing date: 2009-05-14
Publication date: 2014-04-16
Anticipated expiration: 2029-05-14
Also published as: CN102089195A; US8600596B2; FR2931426B1; JP2011521824A; EP2285637A1; WO2009150346A1; EP2285637B1; FR2931426A1; US20110130909A1

Abstract

The invention relates to a four-wheel-drive hybrid vehicle provided with at least one powertrain on each wheel set, namely a first powertrain (1) comprising at least one heat engine and a second powertrain (1) comprising at least one electric motor The drive train (2), the vehicle is also provided with sensors (7) and a friction braking system on each driven wheel. The control system comprises: means (9) for distributing braking requests between the friction braking system and at least one electric motor of the power train, said electric motor being capable of transmitting resistive torque; torque command adjustment means (10), It is used to adjust the torque command for the braking system and for the power train according to the signals from the sensors; power train control means (8); said distribution means (9), torque command adjustment means (10) Dynamically interacting with the power train control device (8) to output torque commands to the power train and friction braking system, thereby improving vehicle stability.

Description

For controlling the system and method for 4Wdvehicle

Technical field

The present invention relates to the field of power actuated vehicle control system, more particularly, relate to the Power Train used for hybrid motor vehicles and the control system of brake equipment.

Background technology

The vehicle that advances self in conjunction with electrical motor is because its quietness and the conservation of fuel that must provide thereof are subject to increasing favorable comment.

But, these electrical motors are coordinated each other mutually or made these electrical motors and other propulsion systems coordinate mutually to require to use senior control electronics package.And, due to can be by making these electrical motors partly provide braking function as generator operation, so also very important to the control of braking aspect.

Therefore, need so a kind of control system, this control system can manage electrical motor to be integrated in the propelling and braking function of power actuated vehicle.

Summary of the invention

Theme of the present invention is the system and method for the electrical motor for controlling 4Wdvehicle.

Another theme of the present invention is the system and method for the electrical motor as brake system for controlling 4Wdvehicle.

One aspect of the present invention defines a kind of for controlling the control system of mixing (hybrid power) type of promotion four-wheel drive motor vehicle, this power actuated vehicle is equipped with at least one Power Train in each wheel pair,, the first Power Train and the second Power Train that comprises at least one electrical motor that comprise at least one combustion engine, this vehicle is also equipped with sensor and is positioned at the friction braking system on each drive wheel.

Described control system comprises:

Distribution device, it is for distribute braking request between at least one electrical motor of described friction braking system and Power Train, and described electrical motor can transfer impedance torque;

Setting device, it is for according to being intended to from the signal adjustment of described sensor for described brake system with for the torque settings point of described Power Train;

Control setup, it is for controlling described Power Train;

Described brakig force distribution device, described torque settings point setting device and described power transmission system control device can dynamically interact, to send torque instruction to described Power Train and to described friction braking system, thus the stability of raising vehicle.

Described control system can be applied to the vehicle that is equipped with drive assistance device.The device of determining stability can comprise brake coordination equipment, and this brake coordination equipment can be considered the signal from described drive assistance device in the mode of coordinating (negotiation) and graduation (differentiation priority).

Described power transmission system control device can also comprise motor torque Mediation Device, and this motor torque Mediation Device can be to coordinate and graduate mode is considered from the signal of described drive assistance device, from the signal of described sensor and from the signal of the device of described definite vehicle stability.

Described the first Power Train can be connected to front truck wheel set, and described the second Power Train can be connected to rear car wheel set, and described torque settings point setting device thereby can limit the regenerative brake of described rear car wheel set, to improve the earth-grasping force of described rear car wheel set.

The device of determining vehicle stability can comprise control setup, and this control setup can be exerted one's influence to friction braking system, and this can not produce moment, but this has reduced the response time of asking subsequently really.

Another aspect of the present invention defines a kind of for controlling the control method of mixing repulsive-type maglev four-wheel drive motor vehicle, this power actuated vehicle is equipped with at least one Power Train in each wheel pair, that is, comprise first Power Train and the second Power Train that comprises at least one electrical motor of at least one combustion engine.This control method comprises the following steps, during described step:

According to pressing down and angle that bearing circle turns over and distribute chaufeur braking request between the regenerative brake of the electrical motor of Power Train and friction braking of the estimating speed of vehicle, brake pedal;

It under static condition and under dynamic condition, is the scope that front truck wheel set and rear car wheel set are determined the regenerative brake torque of being supplied with by the electrical motor of Power Train;

According to the stability of vehicle, be identified for the braking torque of each friction braking equipment;

In the scope of previously definite regenerative brake torque, determine under static condition for the regenerative brake torque of front truck wheel set, under static condition for the regenerative brake torque of rear car wheel set, under dynamic condition for the regenerative brake torque of front truck wheel set and under dynamic condition for the regenerative brake torque of front truck wheel set, described braking torque is determined according to the friction braking torque of each friction braking equipment.

In addition, this control method can be applied to the vehicle that is equipped with drive assistance device.Then can be by the consideration graduation of the braking torque set point to from described drive assistance device, to determine the braking set point that will improve vehicle stability.

May be limited to the regenerative brake carrying out in rear car wheel set, to improve the stability of vehicle.

Can determine minimized friction braking torque set point, to increase the speed of response of brake equipment in the situation that braking request relates to a large amount of use friction braking.

Can determine according to the torque requests to chaufeur part with to the torque requests of drive assistance device part the torque range of being supplied with by Power Train.

Accompanying drawing explanation

By reading the following description that only provides with non-limiting example and carry out with reference to accompanying drawing, other objects of the present invention, feature and advantage will become clear, in the accompanying drawings:

Fig. 1 illustrates the main element comprising in the vehicle that is equipped with control system;

Fig. 2 illustrates the main element comprising in control system;

Fig. 3 illustrates the main element comprising in engine torque Mediation Device; And

Fig. 4 and Fig. 5 illustrate the main element comprising in brake coordination equipment.

The specific embodiment

Fig. 1 flag activation is the power actuated vehicle of VEH, and this vehicle comprises the major part of control system.Vehicle VEH comprises via axle 21 and is connected to the front Power Train 1 of front truck wheel set 3a, 3b and by axle 22, is connected to the rear Power Train 2 of rear car wheel set 4a, 4b.Wheel 3a is equipped with brake equipment 5a, and wheel 3b is equipped with brake equipment 5b, and wheel 4a is equipped with brake equipment 6a, and wheel 4b is equipped with brake equipment 6b.

The electronic control unit being identified by Reference numeral UCE is controlled

brake equipment

5a, 5b, 6a and 6b via

circuit

12,13,14 and 15.Electronic control system UCE also controls front Power Train 1 and rear Power Train 2 via

link

19 and 20 respectively.

Electronic control unit UCE is connected to sensor 7 by

circuit

7a, 7b, 7c, 7d, 7e and 7f.Electronic control unit UCE comprise control Power Train device 8, distribute braking request device 9, adjust the device 10 of torque settings point and for controlling the system 11 of brake equipment.Power transmission system control device 8 is Power Train 1 before mouth is connected to by circuit 19, by circuit 20, is connected to rear Power Train 2.Brake equipment control system 11 is connected to

brake equipment

5a, 5b, 6a and 6b by circuit 12 and by

circuit

13,14 and 15.

For distributing the device 9 of braking request and interconnecting by

circuit

18a, 18b and 18c for the device 10 of adjusting brake system and Power Train torque settings point used.Braking request distribution device 9 is connected to power transmission system control device 8 by

circuit

17a, 17b, 17c, 17d, 17e, 17f, 17g, 17h and 17i.For the device 10 of adjusting brake system and Power Train torque settings point used, by

circuit

16a, 16b and 16c, be connected to power transmission system control device 8.For the device 10 of adjusting brake system and Power Train set point used, by circuit 23, be connected to brake equipment control system 11.

Fig. 2 illustrates the various devices that are included in control system, particularly power transmission system control device 8, braking request distribution device 9 and torque settings point setting device 10.

For the device 9 that distributes braking request, comprise as lower member:

Brake pedal interpreting means 30 is connected to computer device 39 via circuit 18a, and this computer device calculates the datum velocity comprising in setting device 10.This interpreting means 30 is also connected to sensor 7 at input end by the 7b of branch of circuit 7a, and is connected to power transmission system control device 8 by circuit 17b.

Interpreting means 30 is connected to compensating device 31a at mouth by circuit 57, and is connected to the computer device 32a for calculating vehicle acceleration by circuit 59.

For the device 32a that calculates vehicle acceleration, by the branch 56 of circuit 18a, be connected to the computer device 39 that calculates the datum velocity that setting device 10 comprises.For calculating the computer device 32a of acceleration/accel, also at input end, by circuit 17d, be connected to the device 24 of the acceleration pedal of explaining power transmission system control device 8.The computer device 32a that calculates acceleration/accel is connected to compensating device 31b at mouth by circuit 60.

Compensating device 31b is connected to the assigned unit 35 of determining regenerative brake between forward and backward wheel pair by circuit 61, and is connected to friction braking compensating device 37 by the branch 62 of circuit 61.

Compensating device 31a is connected to sensor 7 by its one of them input end via the 7c of branch.Compensating device 31a is connected to the device 34 of determining maximum regeneration braking by the 58a of branch of circuit 58 at mouth, and be connected to the device 38 for determining pre-braking set point by circuit 58.

For determining that the device 34 of maximum regeneration braking is connected to the Power Train set-point optimization device 27 of power transmission system control device 8 by circuit 17e at its one of them mouth.The device 34 of determining maximum regeneration braking is also connected to the assigned unit 35 of determining regenerative brake between forward and backward wheel pair by the branch 63 of circuit 17e at mouth.

For explaining that the device 36 of state is connected to sensor 7 at input end by circuit 7d.Interpreting means 36 is connected to the assigned unit 35 of determining regenerative brake between forward and backward wheel pair by circuit 64 at mouth.Interpreting means 36 is also connected to the device 39 that calculates the datum velocity comprising in setting device 10 by circuit 18b at mouth.

For the device 38 of determining pre-braking set point, at mouth, by circuit 66, be connected to friction braking compensating device 37.

For the assigned unit 35 of determining the regenerative brake between front truck wheel set and rear car wheel set with its mouth by circuit 65 be connected to friction braking compensating device 37, by circuit 17f, be connected to optimized control device 8 Power Train set point device 27 and by circuit 17h, be connected to motor torque Mediation Device 29.

For the device 37 of friction compensation braking, with its one of them input end, by circuit 17i, be connected to the device 28 of the dynamic compensation of the Power Train set point that power transmission system control device 8 comprises.Compensating device 37 is connected to the switch 48 of setting device 10 by circuit 18c at mouth.

For the device 10 of adjusting brake system and Power Train torque settings point used, comprise following major part:

For the computer device 39 that calculates datum velocity, at input end, by circuit 7e, be connected to sensor 7 and be connected to state interpreting means 36 by circuit 18b.Computer device 39 is connected to interpreting means 30 at mouth by circuit 18a, by circuit 81, be connected to state determining device 40, by circuit 67a, be connected to electronic stability control convenience 41 (conventionally famous with its electronic stability program (being called for short ESP)), by circuit 67b, be connected to ABS equipment 42, by circuit 67c, be connected to traction control equipment 44, by circuit 67d, be connected to the equipment that prevents the regenerative brake in rear car wheel set, and be connected to by circuit 67e the equipment that supports datum velocity 46.

State determining device 40 is connected to sensor 7 at input end by circuit 7f.State determining device 40 is connected to switch 48 at mouth by circuit 82, by circuit 68a, be connected to electronic stability control convenience 41, by circuit 68b, be connected to ABS equipment 42, by circuit 68c, be connected to HBD (distribution of composite brakig power) equipment 43, by circuit 68d, be connected to traction control equipment 44, by circuit 68e, be connected to the equipment that prevents the regenerative brake in rear car wheel set 45, and be connected to datum velocity maintenance equipment 46 by circuit 68f.

For the equipment 47 of coordinating braking, with its input end, by

circuit

74 and 104, be connected to ESP equipment 41, by

circuit

75 and 103, be connected to ABS equipment 42, by circuit 76, be connected to HBD equipment 43, by

circuit

77a, 77b and 105, be connected to traction control equipment 44, by circuit 78, be connected to the device that prevents the regenerative brake in rear car wheel set 45, and be connected to datum velocity maintenance equipment 46 by circuit 79.

For the equipment 47 of coordinating braking, with its mouth, by circuit 80, be connected to switch 48, and be connected to the equipment 29 for coordinating motor torque by

circuit

16a and 16c.

Switch 48 is connected to brake equipment control system 11 at mouth via circuit 23.

For the device 8 of controlling Power Train, comprise following major part:

For explaining that the device 24 of acceleration pedal is connected to sensor 7 with an one input end by circuit 7a.This interpreting means 24 is connected to the device 32b for calculating vehicle acceleration with an one mouth by circuit 50.

Vehicle acceleration computer device 32b is connected to brake pedal interpreting means 30 at mouth by the 17c of branch of circuit 59.Vehicle acceleration computer device 32b is connected to compensating device 31c at mouth by circuit 51.

Compensating device 31c is connected to the device 27 of optimizing power transmission system set point by circuit 52 at mouth, by the branch 53 of circuit 52, be connected to the device 28 for dynamic compensation Power Train set point.

Power Train set-point optimization device 27 is connected to the device 34 of determining maximum regeneration braking by circuit 17e with its at least one input end.Optimization device 27 is connected to Power Train set point dynamic compensating device 28 at mouth by circuit 54.

Power Train set point dynamic compensating device 28 is connected to compensating device 31c with its at least one input end by the branch 53 of circuit 52.Power Train set point dynamic compensating device 28 is connected to motor torque Mediation Device 29 with its at least one mouth by circuit 55, and is connected to friction braking compensating device 37 by circuit 17i.

Motor torque Mediation Device 29 is connected to the assigned unit 35 of determining regenerative brake between forward and backward wheel pair by circuit 17h with its at least one input end, and be connected to brake coordination equipment 47 by circuit 16c.Motor torque Mediation Device 29 is Power Train 1 and rear Power Train 2 before mouth is connected to by

circuit

19 and 20.

Sensor 7 by the information supply relevant with the position XBP_sens of brake pedal or the position P_MC_sens of master cylinder to interpreting means 30.The minimum deceleration degree GPT_min that interpreting means 30 is also received the estimated valve VVH_x_est of vehicular longitudinal velocity and produced by the mechanical resistance of the Power Train for zero acceleration/accel by circuit 18a, leaves deceleration/decel also referred to as pin.

Then, interpreting means 30 is determined the derivative dGBP_sp about the time of the deceleration/decel GBP_sp that causes due to pressing down of brake pedal and the described deceleration/decel causing due to pressing down of brake pedal.Variable GBP_sp and dGBP_sp send by circuit 57, and variable GBP_sp sends by circuit 59.

The device 32a that is used for the acceleration/accel that calculates vehicle receives the estimated valve VVH_x_est of vehicular longitudinal velocity by branch 56, and receives the acceleration/accel GPT_sp being produced by Power Train.Then, vehicle acceleration computer device 32a according to chaufeur request determine vehicle acceleration set point GWH_sp.

Then, compensating device 31b receives vehicle acceleration set point GWH_sp, and by adopting following relational expression to determine total vehicle torque settings point TWH_sp:

TWH_sp＝M·R·GWH_sp

Wherein M is the estimated quality of vehicle, and R is the estimation radius of wheel.

Meanwhile, compensating device 31a receives variable GBP_sp and dGBP_sp as input.Then compensating device 31a determines the torque TBP_sp relevant to pressing down of brake pedal and the derivative dTBP_sp that presses down relevant torque of described and brake pedal:

TBP_sp＝M·R·GBP_sp

dTBP_sp＝M·R·dGBP_sp

For the device 34 of determining maximum regeneration braking, as input, receive the torque TBP_sp relevant with pressing down of brake pedal and the derivative dTBP_sp that presses down relevant torque of described and brake pedal.Then, the device 34 of determining maximum regeneration braking is determined the minimum braking torque TNBP_min that does not comprise friction braking.

The device 36 of explanation state receives from sensor 7 the angle A SW_sens that wheel turns over.In addition, the logical signal Flag_4wd_opt of the logical signal Flag_int_recup that the regenerative brake in state interpreting means 36 reception reflection rear car wheel sets has been prevented from and the four wheel drive pattern of having started optimization, each signal in these two signals is derived from torque settings point setting device 10.

Then, for the device 36 of explaining state, determine the potential threshold value Mu_trac of traction earth-grasping force, the potential threshold value Mu_recup of regenerative brake earth-grasping force, the traction potential dynamic threshold Mu_trac_dyn of earth-grasping force and the potential dynamic threshold Mu_recup_dyn of regenerative brake earth-grasping force.

Determining device 35 receives gross vehicle torque settings point TWH_sp, does not comprise the minimum braking torque TNBP_min of friction braking, draws the potential threshold value Mu_trac of earth-grasping force, the potential threshold value Mu_recup of regenerative brake earth-grasping force, the traction potential dynamic threshold Mu_trac_dyn of earth-grasping force and the potential dynamic threshold Mu_recup_dyn of regenerative brake earth-grasping force.

Then, determining device 35 determine approaching the minimum torque TPT_r_min on rear axle under static condition, approaching the maximum torque TPT_r_max on rear axle under static condition, the minimum torque TPT_r_min_trans under transition condition on rear axle and the maximum torque TPT_r_max_trans on rear axle under transition condition.

Meanwhile, the derivative dTBP_sp of the torque TBP_sp that determining device 38 receptions are relevant to pressing down of brake pedal and the torque relevant with pressing down of brake pedal, and determine the braking torque Δ FBP_sp being directly applied on drg.

Friction braking compensating device 37 receives gross vehicle torque settings point TWH_sp, is approaching the minimum torque TPT_r_min on rear axle under static condition, approaching the torque settings point TPT_f_osp of the torque settings point TPT_r_osp of the maximum torque TPT_r_max on static condition rear axle, rear Power Train, front Power Train and be applied directly to the braking torque Δ FBP_sp on drg.

Then friction braking compensating device 37 is determined according to the braking torque TFB_rl_osp of the left back wheel of the resistive torque TPT_r_osp compensation of rear Power Train, according to the braking torque TFB_rr_osp of the right rear wheel of the resistive torque TPT_r_osp compensation of rear Power Train, according to the braking torque TFB_fl_osp of the front left wheel of the resistive torque TPT_f_osp compensation of front Power Train and according to the braking torque TFB_fr_osp of the right front wheel of the resistive torque TPT_f_osp compensation of front Power Train.

In power transmission system control device 8, acceleration pedal interpreting means 24 from sensor 7 receive about acceleration pedal press down and about the information of ratio of number of teeth.Interpreting means 24 also receives the estimated valve VVH_x_est of the longitudinal velocity of vehicle.Interpreting means 24 is determined the acceleration/accel GPT_sp being produced by Power Train at mouth.

Vehicle acceleration computer device 32b receives the acceleration/accel GPT_sp being produced by Power Train and determines vehicle acceleration set point GWH_sp.

The operation that it should be pointed out that

device

32a and 32b can be integrated in the single assembly distributing across

device

8 and 9.

Compensating device 31c receives vehicle acceleration set point GWH_sp, and determines gross vehicle torque settings point TWH_sp by application following relationship:

TWH_sp＝M·R·GWH_sp

Here again it should be pointed out that

device

31a, 31b and 31c can combine, so their function is shared to

device

8 and 9.

Except value TWH_sp, Power Train set-point optimization device 27 also receives at input end the minimum braking torque TNBP_min that do not comprise friction braking, is approaching the minimum torque TPT_r_min on rear axle under static condition, approaching the maximum torque TPT_r_max on rear axle under static condition, the maximum torque TPT_r_max_trans under the minimum torque TPT_r_min_trans under transition condition on rear axle and transition condition on rear axle.

The value of Power Train set point dynamic compensating device 28 torque TPT_f_osp of Power Train before mouth sends, the value of torque TPT_r_osp and the value of gear ratio RCL_f_osp of rear Power Train.

Motor torque Mediation Device 29 is received in the value of the minimum torque TPT_r_min_stat on rear axle static condition from brake coordination equipment 47, the value of maximum torque TPT_r_max_stat under static condition on rear axle, the value of minimum torque TPT_r_min_dyn under dynamic condition on rear axle, the value of maximum torque TPT_r_max_dyn under dynamic condition on rear axle, the value of minimum torque TPT_f_min_stat under static condition on front axle, the value of maximum torque TPT_f_max_stat under static condition on front axle, the value of minimum torque TPT_f_min_dyn under dynamic condition on front axle, the value of maximum torque TPT_f_max_dyn under dynamic condition on front axle, and the value of gear RCL_f_tgt.Motor torque Mediation Device 29 also receives the value of the torque TPT_r_osp of the value of the torque TPT_f_osp of Power Train, rear Power Train from dynamic compensating device 28.Mediation Device 29 is included in the parts of describing in Fig. 3.

Mediation Device 29 comprises computer device 84 and computer device 85.Computer device 84 is received in the value of the value of the value of the value TPT_r_min_stat of the minimum torque on rear axle under static condition, minimum torque TPT_r_min_dyn under dynamic condition on rear axle, minimum torque TPT_f_min_stat under static condition on front axle and the value of the minimum torque TPT_f_min_dyn on front axle under dynamic condition at its input end.This computer device also receives the value of the torque TPT_r_osp of the value of the torque TPT_f_osp of Power Train, rear Power Train from dynamic compensating device 28.Computer device 84 is determined the maxim of the torque that can be applied to front Power Train and rear Power Train.These two values are sent to computer device 85 by circuit 110.

Computer device 85 is received in the value of the value of the value of the maximum torque TPT_r_max_stat on rear axle under static condition, maximum torque TPT_r_max_dyn under dynamic condition on rear axle, maximum torque TPT_f_max_stat under static condition on front axle and the value of the maximum torque TPT_f_max_dyn on front axle under dynamic condition at its input end.

Then, computer device 85 is determined minimum value from received value, and these are worth to be respectively used to the target torque value TPT_f_tgt of front Power Train and rear Power Train and the mode of TPT_r_tgy is sent at mouth.

For the device 10 of adjusting brake system and Power Train torque settings point used, via datum velocity computer device 39, receive the potential threshold value Mu_trac of traction earth-grasping force, the potential threshold value Mu_recup of regenerative brake earth-grasping force, the traction potential dynamic threshold Mu_trac_dyn of earth-grasping force and the potential dynamic threshold Mu_recup_dyn of regenerative brake earth-grasping force.This device 10 also receives wheel velocity value from sensor 7.At mouth, this device 10 is determined the estimated valve VVH_x_est of vehicular longitudinal velocities, and sends and prevent from using regenerative brake and starting to optimize four wheel drive pattern this two logical signal Flag_int_recup and Flag_4wd_opt in rear car wheel set.Computer device 39 also by

circuit

67a, 67b, 67c, 67d and 67e be connected to ESP equipment 41, ABS equipment 42, traction control equipment 44, for preventing carrying out the equipment 45 of regenerative brake in rear car wheel set and for maintaining the equipment 46 of datum velocity.

For determining the data that device 40 bases of state receive from datum velocity computer device 39 and the wheel velocity receiving from sensor 7, determine the state of vehicle.This device 40 by

circuit

68a, 68b, 68c, 68d, 68e and 68f be connected to ESP equipment 41, ABS equipment 42, HBD equipment 43, traction control equipment 44, for preventing that equipment 45 and the datum velocity of carrying out regenerative brake in rear car wheel set from keeping equipment 46.Determining device 40 is also connected to switch 48 by circuit 82.

Drive auxiliary and vehicle security apparatus, such as ESP equipment 41, ABS equipment 42, HBD equipment 43, traction control equipment 44, for preventing carrying out the equipment 45 of regenerative brake in rear car wheel set and itself being known for the equipment 46 that keeps datum velocity, will be described no longer here.

For the equipment 47 of coordinating braking, comprise two parallel organizations.The first structure is intended to motor torque for motor torque Mediation Device 29 for determining, the second structure is intended to for switch 48 with for the resistive torque of

brake system

5a, 5b, 6a and 6b for determining.

The first structure is shown in Figure 4.ESP equipment 41, ABS equipment 42, HBD equipment 43 and traction control equipment 44 are connected to computer device 86 by

circuit

76,77b, 78 and 79.Computer device 86 is also connected to memory device 88 by circuit 111.

For preventing from carrying out the equipment 45 of regenerative brake and be connected to computer device 87 for the equipment 46 that keeps datum velocity by corresponding

link

74 and 77b in rear car wheel set.Computer device 87 is also connected to memory device 89 by circuit 112.

Computer device 86 receives the even set point of torque from ESP equipment 41, ABS equipment 42, HBD equipment 43 and traction control equipment 44.Computer device 86 also receives from memory device 88 threshold value corresponding to minimum value of expecting with the mouth of computer device 86.The value of the value of minimum torque TPT_r_min_stat under static condition on rear axle, the value of the minimum torque TPT_r_min_dyn under dynamic condition on rear axle, the minimum torque TPT_f_min_stat under static condition on front axle and under dynamic condition the value of the minimum torque TPT_f_min_dyn on front axle at the mouth of computer device 86, via circuit 16c, send.

Meanwhile, computer device 87 is from carrying out the equipment 45 of regenerative brake and for keeping the equipment 46 of datum velocity to receive the even set point of torque for preventing in rear car wheel set.Computer device 87 also receives threshold value corresponding to minimum value of expecting with the output of computer device 87.The value of the value of the value of maximum torque TPT_r_max_stat under static condition on rear axle, the maximum torque TPT_r_max_dyn under dynamic condition on rear axle, the maximum torque TPT_f_max_stat under static condition on front axle and under dynamic condition the value of the maximum torque TPT_f_max_dyn on front axle at the mouth of computer device 86, via circuit 16a, send.

The second structure that is used for the equipment 47 of coordinating braking is shown in Figure 5.Brake coordination equipment 47 comprises

computer device

90,92,93,94 and memory device 91.

Computer device 90 is connected to ABS equipment 42 by circuit 103, and is connected to electronic braking force distributing box 95 by circuit 102.

Computer device 92 is connected to ESP equipment 41 by circuit 104, by circuit 105, is connected to traction control equipment 44, and is connected to memory device 91 by circuit 106.

Computer device 93 is connected to computer device 92 and is connected to sensor 7 via circuit 98 by circuit 107.

Computer device 94 is connected to computer device 90 by circuit 109, and is connected to computer device 93 by circuit 108.

Computer device

90,92,93 and 94 receives at input end separately the value that comprises four braking torque set points, and each braking torque set point is intended to for a friction braking equipment.

Computer device 90 is determined maxim in the middle of the signal receiving at these input ends.For this reason, the set point of the suitable grade on the each set point in four set points that receive at input end and another input end or other input ends is compared.For example, the grade i set point of value j and the grade i set point of value k compare.In the middle of all set points, consider the minimum set point for grade i.This comparative approach is for computer device the 92,93, the 94th, actv..

Device

92,93 all from its input end, receive worthwhile in definite minimum value.

Finally, computer device 94 is determined minimum value in the middle of the signal receiving at its input end.This value comprises right rear wheel safety arrestment torque TFB_rr_tgt, left back wheel safety arrestment torque TFB_rl_tgt, front left wheel safety arrestment torque TFB_fl_tgt and right front wheel safety arrestment torque TFB_fr_tgt.Then this value is sent by circuit 80.

Thereby, switch 48 receives right rear wheel safety arrestment torque TFB_rr_tgt, left back wheel safety arrestment torque TFB_rl_tgt, front left wheel safety arrestment torque TFB_fl_tgt and right front wheel safety arrestment torque TFB_fr_tgt at its input end via circuit 80, and receives right rear wheel braking torque TFB_rr_osp, left back wheel braking torque TFB_rl_osp, front left wheel braking torque TFB_fl_osp and right front wheel braking torque TFB_fr_osp via circuit 18c.And switch 48 is the control signal from device 40 via circuit 82 reception sources.

Therefore, according to by device 40 states that detect, this switch sends the safety arrestment torque group determined by computer device 47 or by the definite braking torque group of friction braking compensating device 37 at mouth.

These braking set points are sent to brake equipment control system 11 via circuit 23, and this brake equipment control system is transferred to each

friction braking equipment

5a, 5b, 6a and 6b via

circuit

12,13,14 and 15 by suitable braking set point again.

Control system described herein and method allow farthest to consider driving and the braking of hybrid vehicle.In the bipolar solution that request is cut apart between determining the equipment of torque and braking set point and explaining from the sensor of vehicle and the equipment of the various signals of auxiliary driving and safety apparatus according to chaufeur, allow described chaufeur request to adjust by this way, keep vehicle in the driving condition consistent with vehicle safety.

Claims

1. A control system for controlling a four-wheel drive motor vehicle of the hybrid propulsion type equipped with at least one drive train at each wheel set, i.e. a first drive train comprising at least one internal combustion engine (1) and a second power train (2) comprising at least one electric motor, the vehicle is also equipped with sensors (7) and a friction braking system on each drive wheel, characterized in that the control system comprises:

Distribution means (9) for distributing braking requests between said friction braking system and at least one electric motor of the power train and adapted to determine the torque on each wheel compensated according to the resistive torque of the corresponding power train braking torque, said electric motor being capable of delivering resistive torque;

Adjusting means (10) for adjusting torque setpoints intended for said braking system and for said power train and adapted to determine the torques on the front and rear axles under static conditions Range and torque range on the front and rear axles under dynamic conditions and determination of safe braking setpoints on the individual wheels, these ranges and these setpoints are determined based on signals from said sensors;

The adjustment device (10) also comprises comparison means (48) adapted to determine the difference between the compensating braking torques on the respective wheels from the distribution means (9) sent to the braking system (5a, 5b, 5c, 5d) and determine the safe braking setpoint on each wheel from the adjustment device (10);

control means (8) for controlling said power trains and adapted to determine torque values of these power trains and to compare these torque values with the rotational torque ranges in order to determine target torque values for these drive trains (1, 2);

Said distributing means (9), regulating means (10) and power train control means (8) are capable of dynamically interacting to issue torque commands to said power train and said friction braking system to improve vehicle stability.

2. The control system according to claim 1, which is applied to vehicles equipped with driving assistance devices (41, 42, 43, 44, 45, 46), in which control system the adjustment device (10) comprises A brake coordination device (47) capable of taking into account signals from the driving assistance device (41, 42, 43, 44, 45, 46) in a coordinated and hierarchical manner.

3. A control system as claimed in claim 2, wherein the powertrain control device (8) comprises an engine torque coordinating device (29) and a dynamic compensation device (28) for a dynamic compensation set point, the engine torque The moment coordination device is able to take into account signals from driving assistance devices (41, 42, 43, 44, 45, 46), signals from sensors (7), signals from distribution devices (9) and signals from The signal of the dynamic compensation device (28).

4. The control system according to one of the preceding claims, wherein the first power train (1) is connected to the front wheel set, the second power train (2) is connected to the rear wheel set, and the adjusting device (10 ) can limit the regenerative braking of the rear wheel pair to improve the grip of the rear wheel pair.

5. The control system according to any one of claims 1-3, wherein said distributing means (9) comprises determining means (38) for determining a pre-braking set point in order to be able to control said The friction braking system exerts an impact, which does not generate torque, but it does reduce the response time to subsequent requests.

6. A method for controlling a four-wheel-drive motor vehicle of the hybrid propulsion type, which is equipped with at least one power train on each wheel set, comprising A first drive train (1) with at least one internal combustion engine and a second drive train (2) comprising at least one electric motor, characterized in that the control method comprises the following steps, during which steps:

determining the braking torque at each wheel compensated according to the resistive torque of the corresponding drive train,

Determination of torque ranges on the front and rear axles under static conditions and torque ranges on the front and rear axles under dynamic conditions and safe braking setpoints on individual wheels,

Determining the set point between the compensating braking torque on the individual wheels from the distribution device (9), sent to the brake system (5a, 5b, 5c, 5d) and on the individual wheels from the adjusting device (10) The safe brake set point,

determine the torque values for these power trains, and

These torque values are compared with torque ranges on the respective shafts from the adjusting device (10) in order to determine target torque values for the drive trains (1, 2).

7. The control method according to claim 6, applied to a vehicle equipped with a driving assistance device, wherein the consideration of the braking torque set point from the driving assistance device is graded in order to determine Brake set point that will increase vehicle stability.

8. A control method as claimed in claim 7, wherein regenerative braking on the rear wheel sets is limited in order to improve vehicle stability.

9. A control method as claimed in claim 8, wherein the minimum friction braking torque set point is determined to increase the response speed of the braking device in the event that the braking request involves heavy use of friction braking.

10. The control method according to one of claims 7 to 9, wherein the range of the torque supplied by the power train is determined according to the torque request to the driver part and the torque request to the driving assistance device part.